/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usart.h"
#include "tim.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
osThreadId defaultTaskHandle;

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
#if defined(__GNUC__)
int _write(int fd, char * ptr, int len)
{
    HAL_UART_Transmit(&huart1, (uint8_t *) ptr, len, HAL_MAX_DELAY);
    return len;
}
#endif


/* USER CODE END FunctionPrototypes */

void StartDefaultTask(void const * argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/* GetIdleTaskMemory prototype (linked to static allocation support) */
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );

/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
static StaticTask_t xIdleTaskTCBBuffer;
static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];

void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
{
  *ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
  *ppxIdleTaskStackBuffer = &xIdleStack[0];
  *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
  /* place for user code */
}
/* USER CODE END GET_IDLE_TASK_MEMORY */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* definition and creation of defaultTask */
  osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 512);
  defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */

}

/* USER CODE BEGIN Header_StartDefaultTask */
/**
  * @brief  Function implementing the defaultTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void const * argument)
{
  /* USER CODE BEGIN StartDefaultTask */
  /* Infinite loop */
  uint16_t cnt = 0;
  static uint8_t  key[5] = {0,0,0,0,0};
    __IO uint16_t ChannelPulse = PWM_MAX_PERIOD_COUNT/10;
    int16_t target_speed = 2000;
    uint8_t i = 0;
  for(;;)
  {
    if(++cnt>=20){
        cnt = 0;
        //printf("Key:%d,%d,%d,%d,%d\r\n",ReadKey0(),ReadKey1(),ReadKey2(),ReadKey3(),ReadKey4());
        if(ReadKey0() == GPIO_PIN_SET && key[0] == 0){
            key[0] = 1;
            if(target_speed < 0){
                target_speed = -target_speed;
                set_bldcm_direction(MOTOR_REV);
            }
            else {
                set_bldcm_direction(MOTOR_FWD);
            }
            set_bldcm_speed(target_speed);
            set_bldcm_enable();
        }
        else if(ReadKey0() == GPIO_PIN_RESET){
            key[0] = 0;
        }
        if(ReadKey1() == GPIO_PIN_SET && key[1] == 0){
            key[1] = 1;
            set_bldcm_disable();
        }
        else if(ReadKey1() == GPIO_PIN_RESET){
            key[1] = 0;
        }
        if(ReadKey2() == GPIO_PIN_SET && key[2] == 0){
            key[2] = 1;
            target_speed+=100;
            if(target_speed>3000){
                target_speed = 3000;
            }
            set_bldcm_speed(target_speed);
        }
        else if(ReadKey2() == GPIO_PIN_RESET){
            key[2] = 0;
        }
        if(ReadKey3() == GPIO_PIN_SET && key[3] == 0){
            key[3] = 1;
           target_speed-=100;
           if(target_speed<300){
               target_speed = 300;
           }
            set_bldcm_speed(target_speed);
        }
        else if(ReadKey3() == GPIO_PIN_RESET){
            key[3] = 0;
        }
        if(ReadKey4() == GPIO_PIN_SET && key[4] == 0){
            key[4] = 1;
            set_bldcm_direction((++i%2)?MOTOR_FWD:MOTOR_REV);
        }
        else if(ReadKey4() == GPIO_PIN_RESET){
            key[4] = 0;
        }
    }

    osDelay(1);
  }
  /* USER CODE END StartDefaultTask */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */
